For waking up after REM:
Drink half a glass of water or juice after you get in bed, then try to fall asleep. If you are tempted to drink more while in bed, feel free to do so, but leave at least quarter of a glass left. Try not to think about it too much, it will help you fall asleep.
After you have gone to sleep, you should wake up after your dream for more. Go ahead and drink the rest. Do this every night and it should work. Combine this with autosuggestion and you should be good to go.
As for lucid dreaming:
This technique works EXTREMELY WELL, and has no side effects such as sleep paralysis.
FILD (Finger Induced Lucid Dream):
If you read much on lucid dreaming, this technique may sound like DILD with examining your fingers to determine if you're in a dream, but it's not.
Step 1: Go to sleep
Step 2: Wake up after a dream (Alarm is not recommended)
Step 3: When you wake up, keep your eyes closed, move extremely little, and proceed to step 4.
Step 4: Place your hand either on a close by bedside table or on the bed next to you. (Palm side down)
Step 5: Alternate pressing your index and middle finger down on the surface VERY gently. You should NOT be moving your fingers very much at all, not enough to press a keyboard key down at all. Do this for a bit. Keep in mind that your objective is to keep your brain awake by sending signals to your muscles, but not enough to greatly move your body. Also, do not think about ANYTHING during this time. Keep your brain as inactive as possible, don't even monologue in your head about what you are doing, just do it.
Step 6: After about 30 seconds (don't count, just estimate) stop and do a reality check. Recommended way is to plug your nose and try to breathe out of it. If you can, you have successfully entered a lucid dream. If you can't, you're still awake. Try the finger thing again, and do another reality check. If you fail, go back to sleep and if you want to try again, wake up in an hour and repeat.
Next recommended reality check is to attempt to push your index finger through the palm of your opposite hand. This is easy to do if you keep your hands close before doing the reality check, then attempting this.
Remember, if you begin to see images in your brain or eyes, IT IS WORKING. Think nothing of it at all and continue. Thinking about it too much or reacting to it is bye bye lucid dream.
Good luck!
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